phyfixed.cpp
74 priv->joint = NewtonConstraintCreateUserJoint( worldpriv->world, 6, PhyJointPrivate::userBilateralHandler, 0, priv->child, priv->parent );
115 NewtonUserJointAddLinearRow( priv->joint, &globalMatrixChild.w_pos[0], &globalMatrixParent.w_pos[0], &globalMatrixParent.x_ax[0] );
117 NewtonUserJointAddLinearRow( priv->joint, &globalMatrixChild.w_pos[0], &globalMatrixParent.w_pos[0], &globalMatrixParent.y_ax[0] );
119 NewtonUserJointAddLinearRow( priv->joint, &globalMatrixChild.w_pos[0], &globalMatrixParent.w_pos[0], &globalMatrixParent.z_ax[0] );
131 NewtonUserJointAddLinearRow( priv->joint, &qChild[0], &qParent[0], &globalMatrixParent.x_ax[0] );
133 NewtonUserJointAddLinearRow( priv->joint, &qChild[0], &qParent[0], &globalMatrixParent.y_ax[0] );
142 NewtonUserJointAddLinearRow( priv->joint, &qChild[0], &qParent[0], &globalMatrixParent.z_ax[0] );
#define UNUSED_PARAM(a)
const wMatrix & matrix() const
return a reference to the transformation matrix
Definition: wobject.cpp:47
virtual wVector centre() const
Return the centre of this joint in world coordinate.
Definition: phyfixed.cpp:59
wMatrix localMatrixChild
Local frame of the joint respect to the child matrix.
Definition: phyfixed.h:62
virtual wVector getForceOnJoint() const
Returns the force applied to this joint.
Definition: phyfixed.cpp:67
wMatrix localMatrixParent
Local frame of the joint respect to the parent matrix.
Definition: phyfixed.h:60
void sanitifize()
change the matrix in order to get a valid one that represent the same rotation/translation ...
Definition: wmatrix.h:450
virtual PhyObject * parent()
Return the parent object; (NULL means an object attached to static world; see Netwon Documentation) ...
Definition: phyjoint.h:379
wVectorT< false > scale(real s) const
return a new wVectorT with element scaled by s
Definition: wvector.h:305
float real
virtual PhyObject * child()
Return the child object attached to this joint (see Newton Documentation)
Definition: phyjoint.h:371
virtual void updateJointInfo()
Update the Joint informations (each PhyDOF will be updated)
Definition: phyfixed.cpp:79